Code

Nacho/generalized icp#3181

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theNded merged 104 commits intoisl-org:masterisl-org/Open3D:masterfrom nachovizzo:nacho/generalized_icpnachovizzo/Open3D:nacho/generalized_icpCopy head branch name to clipboardJul 22, 2021

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Commits

Commits on Oct 13, 2020

• Add Generalized ICP draft

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Commits on Oct 16, 2020

• Add weighting function for the per-row version of ComputeJTJandJTr.

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• wip

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• Add weighting function for the per-row version of ComputeJTJandJTr.

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• Add weight vector to match ComputeJTJandJr new API.

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• Expose weight parameter for ColorMapOptimizationJacobian

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• Finish ColorizeICP re-binding in python

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• Move private function to unnamed namespace

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• Update python examples

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• Fix generic->geomtric

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• Merge branch 'nacho/robust_kernel_colorized_icp' into nacho/generalized_icp

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• Finish draft of the optimization pipeline

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Commits on Oct 18, 2020

• Change naming

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• Fix tests.

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• Add Python bindings for Genrealized ICP

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• Add draft for ComputeRMSE

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Commits on Oct 19, 2020

• Fix unit tests

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• Fix GenerelaizedICP draft

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• Log also correspondence size for each ICP iteration

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• Fix optimizaiton calculation

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• Attempt to fix optimization problem

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• Fix source/target swap.

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• One step closer to gicp

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• Complete copy-paste from Registartion.cpp

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• Finish gicp implentation (hopefully)

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• Turn gicp into an ugly polymorphic code

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• Use existing normal in the PointCloud instead of re-compute

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• Fix stupid bug

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• Add small chec

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• fix

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• Another huge bugfix. M -> M-1

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• last bugfix of the night

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• Another bugfix. I can now obtain the same results as the original

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Commits on Oct 20, 2020

• Don't apply incremental rotation to Source Covariance Matrix.

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• Compute source covariance for each iteration.

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• Add comments and fix mintor details

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• Merge remote-tracking branch 'origin/master' into nacho/generalized_icp

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• Fix style

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• Update CHANGELOG.md

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• Fix missing sign. Epsilon must be 0.001

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Commits on Nov 13, 2020

• Merge branch 'master' into nacho/generalized_icp

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• Add covariance-point information to geometry::PointCloud type

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• Improve the GeneralizedICP initialization step

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• Unused variables cleanup

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• Cleanup a bit

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• Add covariance data member to PointCloud class

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• Add Variance propagation methods

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• Propagate Covariance information to VoxelDownSample methods

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• Update PointCloud pybindings

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• Reuse CovarianceEstimate code for Normal Computation

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• Add matrix3dvector pybind type to expose PointCloud::covariances_

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• Expose HasCovariances() method to Python API

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• Expose the PointCloud::EstimateCovariances() method to Python API

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• Opaque the covariance type

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• Sort things out

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Commits on Nov 14, 2020

• Fix matrix3dvector pybind.

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• Merge branch 'nacho/add_covariance_member_pointcloud' into nacho/generalized_icp

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• Start migrating towards the new PointCloud API

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• Quick implementation of the SVD

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Commits on Nov 15, 2020

• Initialize with zeros not with identity

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• Initialize with zeros not with identity

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• Remove unused variable

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• Add unit tests for new covariance member

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• Covariance Matrix always positive-semi definitive

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Commits on Nov 16, 2020

• Covariance Matrix always positive-semi definitive

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• Simplify

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• Clear temp covariances buffer for normal estimation.

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• Merge branch 'nacho/add_covariance_member_pointcloud' into nacho/generalized_icp

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  46befb6

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• Fix bug

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• Still not working as expected

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Commits on Mar 12, 2021

• Merge remote-tracking branch 'origin/master' into nacho/generalized_icp

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Commits on Mar 16, 2021

• Merge remote-tracking branch 'origin/master' into nacho/generalized_icp

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• Add GeneralizedICP back to build

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• Add static method to compute covariances.

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• Make method static

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• Revert log change

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• Already checked insided RegistrationICP

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• Fix some comments

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• Bring branch closer to master

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• Happy new year

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• Expose epsilon parameter for GeneralizedICP

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• Two changes in this branch

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• Make it more similar to ColorizedICP

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• Improve some comments

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• Fix some docs:

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Commits on Mar 17, 2021

• Add some tests

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• Add missing unit-test (disabled for now)

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• Improve a bit the comments

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• Check for covariances instead of normals

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• Simplify wrapper

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• Prevent GeneralizedICP for running if no covariance are there

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• Fix EstimateCovariance logic

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• OpenMP static schedule

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• It's faster to use the fast-normal-computation rather than SVD

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• Put back comment

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• Add simple tutorial

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• Improve a bit the tutorial

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• Change titles

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• Fix notebook style

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• Fix unit tests

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Commits on Jul 22, 2021

• fix conflicts

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• remove jupytor example temporarily

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• add generalized ICP cpp example

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• support/test generalized icp in reconstruction system

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